CARDIFF, Nov 10 (Reuters) - Replacement fullback Dan Biggar kicked a late penalty as Wales claimed a first success over nemesis Australia in 14 games with an error-strewn 9-6 victory at the Millennium Stadium on Saturday to boost their confidence ahead of next year’s Rugby World Cup.

Australia lock Ned Hanigan was penalised for not rolling away after making a tackle and Biggar kicked Wales to what will be a famous win, in a contest that saw both sides commit numerous unforced errors and show a lack of cutting edge in attack.

Wales’s Leigh Halfpenny, usually so deadly off the tee, landed two penalties but also missed two very kickable three-pointers, the second from directly in front of the posts on a nervous night in Cardiff.

It was by no means a classic, but for Wales coach Warren Gatland it is a potentially pivotal moment in his build-up to the global showpiece in Japan next year when the sides will meet again in the first-round pool stage. (Reporting By Nick Said; editing by Tony Lawrence)